ME 3507: Theory of Machines

Position Analysis

Dr. Faraz Junejo

Introduction
A principal goal of kinematic analysis is to
determine the accelerations of all the
moving parts in the assembly. Why ?
The design engineer must ensure that the
proposed mechanism or machine will not fail
under its operating conditions. Thus the
stresses in the materials must be kept well
below allowable levels.
From Newton's second law, F = ma,
one typically needs to know the
accelerations (a) in order to compute the
dynamic forces (F) due to the motion of the

Introduction (contd.)

Kinematic Analysis
We determine relative motion
characteristic of a given mechanism.
Can be classified into:
- Position analysis
- Velocity analysis
- Acceleration analysis

For all these three type of problems,

we can use either:
- Graphical Method or
- Analytical Method

Position Analysis
Given

the

kinematic

dimensions and position or

movement

of

the

input

link determine the position or

movement of all other links

Objective
Determine the positions of links
and points on mechanisms.

Graphical Approach
In

the

graphical

method,

the

kinematic diagram of the mechanism

is drawn to a suitable scale, and
The desired unknown quantities are
determined

through

geometrical

constructions

calculations.

suitable
and

Graphical approach

We will have to do an independent

graphical solution for each of the
positions of interest
None of the information obtained
graphically for the first position will
be applicable to the second position.
It is useful for checking the
analytical results.

Analytical approach
Derive

the

general

equations

of

motion
Solve analytical expressions
Once the analytical solution is
derived for a particular mechanism,
it

can be quickly solved (with a

computer) for all positions.

Graphical vs. Analytical approach

Graphical Position Analysis
Is more simple then the algebraic
approach
Graphical Velocity and Acceleration
analysis
Becomes quite complex and difficult then
the algebraic approach
Graphical analysis is a tedious exercise
and was the only practical method available
in the day B.C.(Before Computer) , not so
long ago.

Graphical vs. Analytical approach (contd.)

Coordinate System
Global or Absolute: Master frame
reference fixed in space.
Local: Typically attached to a link at
some point of interest.
- This might be a pin joint, a center of
gravity, or a line of centers of a link.
- These local coordinate system may be
either rotating or non-rotating as we
desire.

Position & Displacement (Point motion)

The position of a point in the plane can

be defined by the use of a position
vector.
Polar coordinate / Cartesian coordinate
A position vector can be expressed
in:
Polar form : a magnitude and angle
of vector

Cartesian form : X
components of the vector

and

Position Vector in Cartesian

and Polar Form

Coordinate Transformation

The systems origins are coincident

and the required transformation is a
rotation.

Coordinate Transformation

Displacement of a point
Is the change in its position and can be
defined as the straight line between the
initial and final position of a point which
has moved in the reference frame.
Note
that
displacement
is
not
necessarily the same as the path length
which the point may have traveled to get
from its initial to final position.

Displacement (contd.)
Figure a shows a point in two positions, A
and B. The curved line depicts the path
along which the point traveled.

The position
vector RBA
defines the
displacement of
the point B with
respect to point A
.

Displacement (contd.)
Figure b defines this situation with
respect to a global reference frame XY.
The vectors RA and
RB define,
respectively, the
absolute positions
of points A and B
with respect to this
global XY reference
frame.

Displacement (contd.)
The vector RBA denotes the difference in
position, or the displacement, between A and
B.
This can be expressed as the position
difference eq:
The position of B with
RB toRA or
respect R
toBA
A=
is equal
the (absolute) position
of B minis the
(absolute) position of A,
where absolute means
with respect to the
origin of
the global reference
frame.

RBA=RBO-RAO

Displacement (contd.)
Case 1
One body in two successive position
position difference
Case 2
Two bodies simultaneous in separate
position
relative or apparent position

Summary
Cartesian (Rx, Ry)
Polar (RA, )
Converting between the two
R A Rx 2 R y 2

arctan R y Rx

Rx R A cos
R y R A sin

Position Difference, Relative position

Difference (one point, two times)Y
relative (two points, same time)

RBA=RB-RA

A
RA

RBA

RB
X

Translation

All points on
the body have
the same
displacement, as

No change in
angular
orientation
Can
be curvilinear or rectilinear translation

Rotation

Different points in the body

undergo different
displacements and thus there
is a displacement difference
between any two points chosen

The link now changes its

angular orientation in the
reference frame

Complex Motion
The sum of the translation and rotation components.

total complex displacement =

translation component + rotation component
The total complex displacement of point B can be defined
as:

Whereas, the
new absolute
position of
point B w.r.t
origin at A is:

Theorems

Eulers theorem
The general displacement of a rigid body
with one point fixed is a rotation about
some axis.
This applies to pure rotation as mentioned earlier.

Chasles theorem describes complex

motion
Any displacement of a rigid body is
equivalent to the sum of a translation of
any one point on that body and a rotation
of the body about an axis through that
point.

Summary: Translation, Rotation,

and Complex motion
Translation: keeps the same angle
Rotation: one point does not move, such as
A in preceding examples
Complex motion: a combination of rotation
and translation

Example: 1
The path of a moving point is defined
by the equation y = 2x2 28. Find
the position difference from point P
tox point Q, when
x

RP 4 and RQ 3

Example: 1 (contd.)
The y-components of two vectors can be
2 as
2
y written
y

RP 2 4 - 28 4

and RQ 2 3 28 10

Therefore,
the
two vectors can
be
written

RP 4i 4j and RQ 3i 10j
as
RQP RQ RP 7 i 14j 15.65243.4

Thus, position difference from point P to Q

As, is(-7) 2 (14) 2 15.65 and
14
tan
63.43 180 243 .4
7
1

Remember:

Angles will
always be
measured ccw
from +ve x-

Example: 2

Where , RP 3 / 2 displacement of link 3 w.r.t link 2

Example: 2 (contd.)
jt

RP re (t 2)e
j

(1 2)e
2

j 1

345

RP (1) 3 cos 45i 3 sin 45 j 2.121i 2.121 j.

3

RP (2) (2 2)e
2

j 2

690

RP (2) 6 cos90i 6 sin 90 j 6 j.

3

RP RP (2) RP (1)
3

RP 2.121i 3.879 j 4.421118 .7 Ans

3

RP

3/ 2

Example: 2 (contd.)
j
2
j0
re (t 2)e 0

RP (t 2)0 (t 2)i2
2

3/ 2

RP (1) (1 2)i2 3i2

2

3/ 2

RP (2) (2 2)i2 6i2

2

3/ 2

RP RP (2) RP (1) 3i2 Ans

3/ 2

3/ 2

3/ 2

Objective of Position
Analysis
The main task in position analysis is the
find the output variables knowing:
The input variable
The length of all the links

Objective of Position Analysis (contd.)

As discussed earlier, there are 2 ways of doing
this:
Graphical method (use drawing tools)
Analytical method (use equations)
Reminder: All angles are measured counter
clockwise from the positive x-axis, as shown below

Graphical Position Analysis

For any one-DOF linkage, such a four-bar,
only one parameter is needed to
completely define the positions of all the
links. The parameter usually chosen is the
angle of the input link; i.e.

Construction of the graphical solution

1. The ground link (1) and the input link (2)

are drawn to a convenient scale such that
they intersect at the origin O2 of the
global XY coordinate system with link 2
placed at the input angle 2.
2. Link 1 is drawn along the X axis for
convenience.

Construction of the graphical solution (contd.)

3. The compass is set to the scaled length of

link 3 (i.e. length b), and an arc of that
radius swung about the end of link 2
(point A) i.e. draw an arc centered at end
of Link 2 (point A)

Construction of the graphical solution (contd.)

4. Set the compass to the scaled

length of link 4 (i.e. length c), and
draw another arc centered at end of
Link 1 (point O4). Label the
intersection of both arcs B and B
Note that intersection of
both arcs B and B define
the two solution to the
position problem for a fourbar linkage which can be
assembled in two
configurations, called
circuits, labeled open and
crossed.

First Config. (Open Config.)

Measure 3 and 4 with protractor

Called Open configuration because
both links adjacent to the shortest link
(Links 1 and 3) do NOT cross each
other

Second Config. (Cross Config.)

Measure 3 and 4 with protractor (CCW

from positive x-axis)
Called Cross configuration because both
links adjacent to the shortest link (Links 1
and 3) cross each other

Summary: Example 1
Given the length of the links (a,b,c,d),
the ground position, and 2. Find 3 and
4
B
A

b
3

a
2
O2

4
O4

Example 1: Graphical Linkage Analysis

Draw an arc of radius

b, centered at A

B1

Draw an arc of radius

c, centered at O4
The intersections are
the two possible
positions for the
O2
linkage, open and
crossed

b
3

a
d

4
O4

B2

Summary: Graphical Position

Analysis

Shaping machine
A photographic view of general configuration of shaping
machine is shown in Figure. The main functions of
shaping machines are to produce flat surfaces.

Example: 2
Model of Slotted quick return mechanism
used in Shaping machines
Tool holder moves in a slot, in the frame of
machine
Block Hinged to the bull
gear, and moves up &
down in the slotted
lever
Link connecting
slotted lever with
tool holder
Cutting tool

Slotted lever
hinged to frame
Bull gear rotated
at constant speed

Example: 2 (contd.)
So, we have a six link mechanism, where
continuous uniform rotation of the bull
gear is converted into to and fro motion
of the cutting tool.
It can be seen that cutting tool is doing
useful work during forward motion/stroke,
so we have to maintain a proper cutting
speed. However, during return stroke it is
not doing any useful work, so we would
like to make return stroke faster, hence it
is referred as quick return mechanism.

Link 2, O2A Bull gear

Link 3, block that is hinged
to bull gear and goes up &
down in the slotted lever,
which is link 4
Link 5 connects slotted
lever with tool holder,
which is represented by

Here, we have got 5

revolute pairs at 02, O4,
A, B and D
respectively.
There are two
prismatic pair, one
between link 1 & 6 in
the horizontal
direction, second one is

Example 2: Statement
Determination of quick return ratio (ratio of

the durations of the forward stroke and the

return stroke) & stroke length of a slotted
lever mechanism used in shapers, with constant
angular speed 2 of input link 2 i.e. bull gear
f
q.r .r
r
where;
f rotation of link2 during forward motion of the cutting tool
r rotation of link2 during return motion of the cutting tool

Example 2: Solution

Example 2: Procedure
1. Note that Point A moves along the circle drawn
whose centre is at O2 with radius O2A. Therefore,
this circle represent path of point A i.e. KA.
2. To determine the extreme positions of the link 4
(i.e. slotted lever), we draw two tangents to the
circle (representing path of point A) from point
O4.
3. Consequently, tangent drawn on right hand side
(R.H.S) represent right most position of slotted
lever (i.e. link 4), indicated by AR, whereas
tangent on L.H.S. represent right most position
of slotted lever (i.e. link 4), indicated by AL.

4. Since the distance O4B does not change, so

we can also locate rightmost position of
revolute pair at B (indicated by BR), by
drawing a circular arc with O4 as centre and
radius O4B. In similar manner, on L.H.S. we
can locate BL.
5. It should be noted that the distance BD does
not changes, as D (i.e. tool holder) moves
horizontally. Hence, BR location can be used
to locate rightmost position of tool holder
(indicated by DR) by drawing a circular arc
with BR as centre and radius BD. In similar
manner, DL i.e. leftmost position of tool
holder can be obtained.

Example 2: Procedure (contd.)

Determination of Q.R.R
It can be seen that input link O2A rotates from
O2AR to O2AL for forward motion (i.e. right to left),
hence the angle between O2AR and O2AL represent
f i.e. rotation of input link (i.e. link 2) during
forward motion.
Similarly, it can be seen that for return motion
(i.e. left to right) input link travels from O2AL to
O2AR now indicating this angle with r i.e. rotation
of input link (i.e. link 2) during return motion.
It can be seen that f is larger then r resulting in
quick return motion of tool holder.

Example 2: Discussion
It should be noted that if stroke length
needs to be decreased, we need to:
decrease the length of input link O2A, because as a result, tangent
from O4 to circle KA i.e. AR and AL points representing rightmost and
leftmost position of slotted lever will move up, resulting inf r .
(i.e. f approaches r) implying a decrease in quick return ratio.

It can be concluded, that this mechanism is OK

for producing quick return effect so long the

stroke length is sufficiently large, and quick return
effect decreases as stroke length decreases.

Slotting machine
Slotting machines can simply be considered as vertical
shaping machine where the tool reciprocates vertically.
Unlike shaping machines, slotting machines are generally
used to machine internal surfaces, implying smaller stroke
length.

Example: 3
Determination of quick return ratio of
Whitworth quick return mechanism
used in slotting machines.
Here,

the

quick

return

ratio

independent of the stroke-length.

is

 Model of Whitworth quick return mechanism

used in Slotting machines

Cutting tool

Kinematic diagram

It is a 6 link mechanism, with five revolute pairs at O2,

O4, A, C and D, and two prismatic pairs between link 3 &
4, and link 6 & 1 respectively.

Kinematic diagram description

Link 2 (O2A) is input link that rotates at
constant angular speed, and is hinged to
fixed link at O2.
Link 3 is the block that moves along link 4
via a prismatic pair.
Link 4 is hinged to fixed link at O4.
Link 4 & Link 5 are connected by a revolute
pair at point C.
Link 5 & Link 6 are connected by a revolute
pair as well.
Link 6 has prismatic pair with fixed link 1 for
horizontal motion.

Example 3: Solution

Example: 4
For a six link mechanism shown below,
determine stroke-length of the output link
i.e. the slider 6. Also determine the quick
return ratio assuming constant angular
speed of link 2.

Example 4: Solution

Exercise: 1

Figure shows a kinematic diagram of a mechanism that is

driven by moving link 2. Graphically reposition the links of
the
mechanism
as
link
2
is
displaced
30
counterclockwise. Determine the resulting angular
displacement of link 4 and the linear displacement of point
E . Use suitable scale.

= 26o,
CCW
R E = 0.95

Exercise: 1 (sol)

Link
2
is
graphically
rotated
30
counterclockwise, locating the position of
point B.
Being rigid, the shape of link 3 cannot change,
and the distance between points B and C
remains constant. Because point B has been
moved to B, an arc can be drawn of length rBC
, centered at B. This arc represents the
feasible path of point C. The intersection of
this arc with the constrained path of C
(obtained by Drawing an arc of radius 3.3 in,
centered at D) yields the position of C.

 This same logic can be used to locate the position of

point E. The shape of link 5 cannot change, and the
distance between points C and E i.e. rCE remains
constant.
Because point C has been moved to C, an arc can be
drawn of length rCE, centered at C. This arc represents
the feasible path of point E. The intersection of this arc
with the constrained path of E yields the position of E.
Finally, with the position of C and E determined, links
3 through 6 can be drawn. The displacement of link
4 is the angular distance between the new (CD) and
original position (CD), approx.: 26 Degrees
counterclockwise
The displacement of point E is the linear distance
between the new (E) and original position (E)of point .
approx.: 0.95 in

Exercise: 2
A point Q moves from A to B along
link 3while link 2 rotates
30 to from
120
2

'
2

. Find the absolute

displacement of Q.

Algebraic Position Analysis

The same procedure that was used earlier to solve
geometrically for the intersections B and B and
angles of links 3 & 4 can be encoded into an
algebraic algorithm.

Coordinates of point A
Eq: 1

Coordinates of point B
are found using equations
of circles about A & O4

 Coordinates of point B are found using

equations of circles about A & O 4
respectively

Eq: 2

Eq: 3

Above equation provides a pair of

simultaneous equations in Bx and By
Now subtracting eq. 3 from eq: 2, and
solving yields:
Eq: 4

Now substituting eq:4 in to eq:3 gives a quadratic

equation in By , which has two solutions
corresponding to Figure 4.5 (i.e. graphical solution
Eq: 5
shown earlier)

Algebraic Position Analysis (contd.)

Eq: 5

Now eq: 5 can be solved using quadratic equation

Eq: 6

Where,

Solution to Eq:6;
- Imaginary implies links cant connect at given input
angle
- Real both values of By can be substituted into eq:4 to
find their corresponding x component

Algebraic Position Analysis (contd.)

Link angles for the given position

can be found from

Eq: 7

Equations 1 - 7 can be encoded in any computer

language or equation solver, such as MATLAB, and
the value of 2 varied over the linkage's usable
range to find all corresponding values of the other
two link angles.

 An

Vector Loop
Representation of
Linkage
alternate

linkage

approach

position

to

analysis

creates a vector loop (or

loops) around the linkage.

Vector Loops of a Mechanism

The main difference between freely moving
bodies and the moving links in a mechanism
is that they have a constrained motion due to
the joints in between the links.
The links connected by joints form closed
polygons (flat shape consisting of straight lines
that are joined to form a closed chain) that we
shall call aloop.
The motion analysis of mechanisms is based on
expressing these loops mathematically.

Loop closure equation

Let us consider a four-bar mechanism as shown

above as a simple example (figure A).

In this mechanism A0,is a permanently

coincident point between links 1 and 2, A is
permanently coincident point between links 2 and
3, B between 3 and 4 and B0between 1 and 4.
Let us disconnect joint B.

Loop closure equation (contd.)

In such a case we will obtain two open kinematic
chains A0AB (links 1,2,3) with two degrees of freedom
and A0B0B (links 1,4) with one degree of freedom

Note that Except A0B0 , the other three vectors will be a function
of time (since the distances between the two points on the same
link are fixed, the magnitudes will remain constant but the
directions of these vectors will change in time).

Loop closure equation (contd.)

For the open kinematic chain, the position of
point B may be defined in two different forms as:
A0A + AB = A0B3(1,2,3 open loop)

A0B0+ B0B = A0B4(1,4 open loop)

However, when considering a mechanism, at
every instant the revolute joint between links 3
and 4 must exist and point B must remain a
permanently coincident point.
Therefore the vectorA0B3andA0B4obtained
from the two equations using the two open
kinematic chains must be equal and this results
with the vector equation:
A0A + AB = A0B0+ B0B

Loop closure equation (contd.)

A0A + AB = A0B0+ B0B
This vector equation must be valid for all

positions due to the permanently coincident

points. If this vector equation can not be
satisfied for a given input angle, then that
position cannot exist (mechanism cannot be
assembled at that position).
In a four-bar mechanism there is a single loop

formed and the vector equation describes the

closure of this loop mathematically.

Vector Loop Representation of Linkage

The links are represented as position
vectors which form a vector loop.
This loop closes on itself making the sum
of the vectors around the loop zero.

Vector Loop Representation of Linkage (contd.)

The directions of the position vectors in

Figure 4-6 are chosen so as to define their
angles where we desire them to be
measured. By definition, the angle of a
vector is always measured at its root,
not at its head.

We would like angle 4 to be measured at

the fixed pivot 04, so vector R4 is arranged
to have its root at that point.
On the same note, we would like to
measure angle 3 at the point where links
2 and 3 join, so vector R3 is rooted there.

Vector Loop Representation of Linkage (contd.)

A similar logic dictates the arrangement of

vectors R1 and R2.
Note that the X (real) axis is taken for
convenience along link 1 and the origin
of the global coordinate system is taken at
point 02, the root of the input link vector,
R2.
These choices of vector directions and
senses, as indicated by their arrowheads,
lead to this vector loop equation:

Multi-loops Mechanisms

Complex Numbers as Vectors

Vectors may be defined in polar

coordinates by their magnitude and
angle, or in Cartesian coordinates
as x and y components.
As mentioned earlier, they are easily
convertible from one to other using
following notations.

Complex Numbers as Vectors

(contd.)

The position vector in Figure 4-6, can

be represented by any of the following
expressions.

Vectors: Regular Notation

Above expression uses unit vector to
represent x and y component directions in
Cartesian form

Vectors: Complex Number Notation

A vector can be
represented by a complex
number
Real part is x-axis
Imaginary part is y-axis
j is imaginary number,=
1
Please note this
imaginary number is used
in a complex number as
operator, not as a value.

Imaginary
Axis
Point A
jR sin

RA

R cos

Reason for using complex number

notation will be apparent in subsequent
discussion

Real
Axis

Complex Number Notation (contd.)

This complex number notation to represent

planar vectors comes from the Euler identity

Advantage: It is easier to differentiate,

because

Derivatives, Vector Rotations

in the Complex Plane
Taking a derivative
of a complex
number will result
in multiplication by
j
Each multiplication
by j rotates a
vector 90 CCW in
the complex plane

Imaginary
B

RB = j R

A
RA

RC = j2 R = -R

R D = j3 R = - j R

Real

It can be seen that each multiplication of j

operator result in a 90 Degree
counterclockwise (ccw) rotation

Position Analysis of Pin-Jointed

Fourbar Linkage using Vector
Loop Method

Vector Loop Method (contd.)

1. Constants, Input & Output Variables
- Constants: a, b, c, d
- Variables: 2 (input), 3 & 4
(output)
2. Draw Vector Loop Diagram

Vector Loop Method (contd.)

3. Write associated vector loop
equation
R3
aA

b
3 B R4
c

R2
Alternative notation:
2 d
RAO2 + RBA - RBO4 - RO4O2 O
R1
2
O4
=0
nomenclature - tip then
4. Represent Each Vector using Complex Number
tail
Notation

Vector Loop Method (contd.)

These equations can be solved for two
unknowns.
There are four variables, namely the four link
angles, in above equation and since 1 = 0,
because it is a ground link, thereby only one
independent variable 2.
We therefore need to find the algebraic
expressions which define 3 and 4 as functions
of the constant link lengths and the one input
angle 2.

Vector Loop Method (contd.)

5. Substitute Euler Identity into above

expression

6. Above equation can now be separate into real

and imaginary parts, and each set to zero.

Vector Loop Method (contd.)

Real:
a cos 2 + b cos 3 - c cos 4 - d cos 1 = 0
a cos 2 + b cos 3 - c cos 4 - d = 0,
since 1 = 0 cos 1 = 1
Imaginary:
ja sin 2 + jb sin 3 - jc sin 4 - jd sin 1 = 0
a sin 2 + b sin 3 - c sin 4 = 0,
since 1 = 0 sin 1 = 0 and the j divides
out

Vector Loop Method (contd.)

a cos 2 + b cos 3 - c cos 4 - d = 0

a sin 2 + b sin 3 - c sin 4 = 0
a,b,c,d are known
One of the three angles is given
2 unknown angles remain
2 equations given above
Solve simultaneously for remaining
angles

a cos 2 + b cos 3 - c cos 4

-d=0
a sin 2 + b sin 3 - c sin 4 =
Solving
these two equation simultaneously is
0
straightforward, but a tedious job. First step is to
eliminate 3 and solve for 4

Vector Loop Method (contd.)

 Using half angle identities, which will

convert the sin4 and cos4 terms to
tan 4

This result in following simplified from, where the

link lengths and known input value ( 2) terms have
been collected as constants, A, B and C

Vector Loop Method (contd.)

Note that above equation is in
quadratic form, and the solution is

Summary: Position Analysis of Pin-Jointed Fourbar

Linkage using Vector Loop Method

Example: 1
Calculate the values of 4 when the
input
angle, 2 = 30

Example: 1 (contd.)

Example: 1 (contd.)

Example: 1 (contd.)

Plot of Output Variable Versus

Input
Variable

Using a Matlab program, we can plot

the output variables for all values of
the input variable (0 2 360)

So Why Should we Choose Analytical

over Graphical Methods?

A plot showing all output values for

any input value (0 2 360) can
be obtained by using the analytical
method together with a math
program (as here in Matlab)
To obtain the same results using the
graphical method, 360 diagrams
have to be made, which is

Vector Loop Method (contd.)

Has Two Solutions, solution may be:
Real and Equal one value of 4 corresponding to
any one value of 2
Real and Unequal i.e. two values of 4
corresponding to any one value of 2 (Crossed or
Open)
Complex Conjugates Link lengths are incapable of
connection for the value of 2 under consideration.

Vector Loop Method: Summary

1. Draw and label vector loop for
mechanism
2. Write vector equations
3. Substitute Euler identity
4. Separate into real and imaginary parts
5. 2 equations, 2 unknown angles
6. Solve for 2 unknown angles
Note: there will be two solutions since
mechanism can be open or crossed

a cos 2 + b cos 3 - c cos 4

-d=0
a sin 2 + b sin 3 - c sin 4 =
Solving these two equation
0 simultaneously is
straightforward, but a tedious job. First step is to
eliminate 4 and solve for 3

Solution for 3

Solution for 3

Example 1:
Analytic Position Analysis
Input position 2 given
Solve for 3 & 4
b=2.14
3 =?
a=1.6
2 =51.3 d=3.5

c=2.06
4 =?

Example 1:
Vector Loop Equation
R2 + R3 - R4 - R1 = 0
aej2 + bej3 - cej4 - dej1 = 0
1.6ej51.3 + 2.14ej3 - 2.06ej4 3.5ej0 = 0

R2

R3

b=2.14
3 =?

R4
c=2.06

a=1.6
2 =51.3 d=3.5

R1

4 =?

Example 1:
Analytic Position Analysis (contd.)
aej2 + bej3 - cej4 - dej1 = 0
a(cos2+jsin2) + b(cos3+jsin3) - c(cos4+jsin4)
- d(cos1+jsin1)=0
Real part:
a cos 2 + b cos 3 - c cos 4 - d = 0
b=2.14
1.6 cos + 2.14 cos 3
- 2.06 cos 4 - 3.5 = 0
3 =?
Imaginary part:
a=1.6
c=2.06
a sin 2 + b sin 3 - c sin 4 = 0
1.6 sin + 2.14 sin 3
2 =51.3 d=3.5
- 2.06 sin 4 = 0

Example 1: Solution Open Linkage

2 equations from real & imaginary equations

1.6 cos + 2.14 cos 3 - 2.06 cos 4 - 3.5 =
0
1.6 sin + 2.14 sin 3 - 2.06 sin 4 = 0
2 unknowns: 3 & 4

b=2.14

Solve simultaneously to yield

3=21
2 solutions.
a=1.6
Open solution:
c=2.06
3 = 21, 4 = 104
2=51.3 d=3.5

4=104

Recap
In case of a four-bar, the vectors in the
loop
closure
equation
have
fixed
magnitudes.
However, the angular inclinations of the
three vectors representing the moving links
will change. Hence, there are three position
variables (12, 13and 14). Note 11 for fixed
link is 0.
If one of these variables is defined, the
remaining two variables can be solved from
the vector equation; using scalar and
imaginary parts respectively.

Recap (contd.)
If we refer to the definition of the degree-offreedom of a mechanism, the variable that
must be defined is the input variable; and,
for a constrained motion the number of
input variables must be

equal to

the

degree-of-freedom of the joints involved.

In

case

of

connections

a
are

four-bar,

since

revolute

all

joints,

variables are all rotation variables.

the
the

Loop closure Eq. of Slider-crank

mechanism
In case of a prismatic joint, the variable will be
the magnitude of a vector or a vector
component.
Consider a slider-crank mechanism as shown in
Figure A. Let us disconnect the revolute joint at
B (Figure B)

 In order to determine the positions of links 2

and 3 we must define12and13.
To locate the position of link 4 its displacement
along the slider axis must be known and the
position variable s14must be defined. The
resulting loop closure equation is:

AoA+AB=AoB
Again there are three variables (12,13and s14)
one of which must be specified as the input. In
this case the vectorsAoAandABhave fixed
magnitudes and varying directions. The
vectorAoBhas a fixed y component (length c)
and a changing x component (s14).

Loop closure Eq. of Slider-crank

mechanism (contd.)
Depending on the applications
either 12(i.e. in pumps) or s14(i.e. internal
combustion engines) is the input.
In complex numbers the vector loop
equation will be:

a2e j a3e j s14 jc

12

13

where;
a2 , a3 : lengths of link 2 & 3 respectively

Important Note!!
The vectors defined and the variables used in
the loop closure equations are not unique.
For example, for the slider crank mechanism,
rather than disconnecting the revolute joint at
B, one can as well disconnect the revolute joint
at A between links 2 and 3, as shown in
figurebelow.

Important Note!!
(contd.)

We must now define the angle 13 i.e.

,<BA instead of the angle 13 to determine
the position of link 3.
Note that the angles 13 and 13 differ by a
constant angle (In this case by 180o).
Thus, the resulting loop equation is:
AoA = AoB + AB
In complex numbers the vector loop
j '
equationjwill
be:
13
12

a2e

s14 jc a3e

Example: 2
The linkage is driven by moving the sliding
block 2. Write the loop-closure equation.
Solve analytically for the position of sliding
block
i.e.mm
RA,. 15; 45
where
, RAB 4
200

Example: 2 (contd.)

st, drawing kinematic diagram with XY coordinate sy

A
RAB

Now, the loop closure equation by

disconnecting at A is
R =R +R

Example: 2 (contd.)

w writing the loop closure equation in complex form

RA e

j / 12

RA e

j .15

RB RAB e
RB RAB e

j ( 45 )

j .135

Now equating the imaginary components

of above equation, we get
RA sin 15 RAB sin 135
sin 135
sin 135
RA
RAB 200
546 mm.
sin 15
sin 15

The fourbar Slider-crank

Position solution

Following figure shows an offset fourbar

slider-crank linkage.
The term offset means that the slider axis
extended does not pass through the crank
pivot.

 This linkage could be represented by only three

position vectors, R2, R3, and Rs, but one of them
(Rs) will be a vector of varying magnitude and
angle.
It will be easier to use four vectors, R 1, R2, R3, and
R4 with R1 arranged parallel to the axis of sliding
and R4 perpendicular.
It can be noted that the pair of vectors R1 and R4
are orthogonal components of the position vector
Rs from the origin to the slider.
The variable-length, constant-direction
vector R1 then represents the slider position with
magnitude d. The vector R4 is orthogonal to R1
and defines the constant magnitude offset of the
linkage.

 The coupler's position vector R3 is placed with its

root at the slider which then defines its angle 3
at point B.
This particular arrangement of position vectors
leads to a vector loop equation similar to the pin
jointed fourbar example:
R2 - R 3 - R 4 - R 1 = 0
Letting the vector magnitudes (link lengths) be
represented by a, b, c, d as shown, we can
substitute the complex number equivalents for
the position vectors.

Now separating the real and imaginary components

Real:
a cos 2 - b cos 3 - c cos 4 - d cos 1 = 0
a cos 2 - b cos 3 - c cos 4 - d = 0,
since 1 = 0 cos 1 = 1
Imaginary:
ja sin 2 + jb sin 3 - jc sin 4 - jd sin 1 = 0
a sin 2 - b sin 3 - c sin 4 = 0,
since 1 = 0 sin 1 = 0 and the j divides out

a cos 2 - b cos 3 - c cos 4 - d = 0 (Eq:A)

a sin 2 - b sin 3 - c sin 4 = 0 (Eq:B)
We want to solve above equations
simultaneously for the two unknowns, link
length d and link angle 3.
The independent variable is crank angle 2.
Link lengths a and b, the offset c, and angle
4 are known.
But note that since we have set up the
coordinate system to be parallel and
perpendicular to the axis of the slider block,
thus the angle 1 is zero and 4 is 90.

The fourbar Slider-crank

Position solution (contd.)
Equation B can be solved for 3 and the result
substituted into equation A to solve for d. The
solution is:

Arcsine function is multivalued. For instance:

sin-1(0) = 0 and sin-1(0) = 180
Calculator will only give the arcsine value between
90 representing only one configuration of the
linkage

The fourbar Slider-crank

Position solution (contd.)
To get the other value of 3 for the
second configuration:

Example: 1

Determine the values of 3 and d when

the input angle, 2 = 80

Example: 1 (contd.)

Example: 1 (contd.)

Position of Any Point on

a Linkage

Determine position of points on the

mechanism, instead of finding the output

variables.
Can only be done once all the output
variables are found
This is the ULTIMATE goal of this chapter

Position of points on the

links

Consider finding the position of Point S

(relative to O2)
Draw a position vector from the fixed pivot
02 to point S.
This vector RS02 makes anangle
with
2
the vector RA02.

2
This angle

is completely defined by the

geometry of link 2 and is constant.

The position vector for point S is then:

Consider finding the position of Point

P (relative to O2)

Consider finding the position of Point

U (relative to O4)
Similarly, the position of point U on
the link 4 can be found using
the
4
angle
which has a constant
angular offset with the link 4.

Example: Determine position of

point P

RPO2= 3.99 @26.5o

Review - Law of Cosines

2

A B C
cos
2AB

A2 B2 C2
arccos

2AB

Transmission Angles
The transmission angle is defined as the
angle between the output link and the
coupler.
For our four bar linkage example, it would be
the difference between 3 and 4 .
It is usually taken as the absolute value of
the acute angle.

Extreme Values of the Transmission Angle

For a Grashof crank-rocker fourbar linkage

the extreme values of the transmission
angle will occur when the crank is collinear
with the ground link as shown in Figure.

Extreme Values of the Transmission Angle (contd.)

The values of the transmission angle in these

positions are easily calculated from the law of
cosines since the linkage is then in a
triangular configuration.
The sides of the two triangles are link 3, link
4, and either the sum (when extended) or
difference (when overlapped) of links 1 and 2.
Measure of quality of force transmission. How?
Ideally, as close to 90 as possible. Why?

Because..
If the measured angle between the coupler and output
link is greater than 90, the transmission angle is
calculated as 180 minus the measured angle.
Thus, the maximum possible, and optimal,
transmission angle is 90.
At this angle, all of the force (generated from the
torque) is transferred to the output link.
As the transmission angle deviates from 90, some
component of the force is not acting on the output
link.
At 45, only about 70% of the force is producing
desirable work. As a rule of thumb, machine designers
try to keep the minimum transmission angle above
~40.

 Transmission of motion is impossible when

transmission angle is either 0 or 180 degrees, as
in such case no load can be realized on output
link.

This figure shows that a small input transmission

angle tends to maximize the axial force on the
coupler, given an input -motor torque
T that
produces a force F = T/s (s= AD) normal to the
crank at D

 Whereas, a large output transmission

angle between coupler and rocker BC
tends to: Maximize the torque, produced
by the axial force on the coupler at point
C, about the R-joint at B

Extreme Values of the Transmission Angle

(contd.)

One extreme value of the transmission angle

occurs when links 1 and 2 are collinear and nonoverlapping (i.e. Extended) as shown in Figure.

as 1 > 90,

trans1 = 180 - 1

Extreme Values of the Transmission Angle

(contd.)

The other extreme transmission angle

occurs when links 1 and 2 are collinear
and overlapping as shown in Figure.

Transmission Angles

Transmission Angles:
Summary
C

B
A

A ground link
B input link
C coupler
D output link

Angle between coupler and output

link should be 40140
Zero torque at output link if =0 or
=180

Example

Figure illustrates a crank-and-rocker four-bar

linkage in the first of its two limit (toggle) positions.
In a limit position, points 02,A, and B lie on a
straight line; that is, links 2 and 3 form a straight
line. The two limit positions of a crank-rocker
describe the extreme positions of the rocking
angle. Suppose that such a linkage has r1 = 400
mm, r2 = 200 mm, r3 = 500 mm, and r4 = 400 mm.

Toggle
angles
are a measure of
when the crank
torque
will
create
a
maximum

Example (contd.)
a. Find 2 (i.e. toggle angles of the crank link) and
4 corresponding to each limit position.
b. What is total rocking angle of link 4?
c. What are the transmission angles at the extremes?

 From isosceles triangle (as r1 = r4 =

400mm) O4O2B we can calculate or measure

om triangle O2BO4 using law of cosines

2 29; 4 58; 29

om triangle O2B O4 using law of cosines

2 180 68 248;
'

4 136;
'

' 68

Example (contd.)
b. Since two limit positions of a crank-rocker
describe the extreme positions of the
rocker, therefore rocking angle is given
by

4 4 ' 4 136 58 78

c. The transmission angle is defined as

the angle between the output link i.e.
rocker in this case and the coupler,
therefore the transmission angles at the
extremes
29are
& given
' 68by

Exercise: 1

For a four-bar mechanism shown

below, find extreme transmission
angles. Find the two toggle angles of
the crank AB as well.

Toggle angles : 2 40.1; 2 ' 228.6

Transmissi on angles : 81.9(extended);

53.1(overlapped )

Transmission Angle: Slider Crank

In the slider-crank, the transmission angle is

measured between the coupler and a line normal
to the sliding direction.
The values for the minimum (@ 270 degrees) and
maximum (@ 90 degrees) transmission angles can
be determined by geometrically constructing the

 Alternatively, the minimum and maximum

transmission angles for a slider-crank can
be calculated from